A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance
In this paper, a finite-time, active fault-tolerant control (AFTC) scheme is proposed for a class of autonomous surface vehicles (ASVs) with component faults. The designed AFTC framework is based on an integrated design of fault detection (FD), fault estimation (FE), and controller reconfiguration....
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/2/347 |
| _version_ | 1797297725656530944 |
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| author | Xuerao Wang Yuncheng Ouyang Xiao Wang Qingling Wang |
| author_facet | Xuerao Wang Yuncheng Ouyang Xiao Wang Qingling Wang |
| author_sort | Xuerao Wang |
| collection | DOAJ |
| description | In this paper, a finite-time, active fault-tolerant control (AFTC) scheme is proposed for a class of autonomous surface vehicles (ASVs) with component faults. The designed AFTC framework is based on an integrated design of fault detection (FD), fault estimation (FE), and controller reconfiguration. First, a nominal controller based on the Barrier Lyapunov function is presented, which guarantees that the tracking error converges to the predefined performance constraints within a settling time. Then, a performance-based monitoring function with low complexity is designed to supervise the tracking behaviors and detect the fault. Different from existing results where the fault is bounded by a known scalar, the FE in this study is implemented by a finite-time estimator without requiring any <i>prioir</i> information of fault. Furthermore, under the proposed finite-time AFTC scheme, both the transient and steady-state performance of the ASV can be guaranteed regardless of the occurrence of faults. Finally, a simulation example on CyberShip II is given to confirm the effectiveness of the proposed AFTC method. |
| first_indexed | 2024-03-07T22:25:28Z |
| format | Article |
| id | doaj.art-36a61d0fc76d4dc58b8c4e8980d216ec |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-07T22:25:28Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-36a61d0fc76d4dc58b8c4e8980d216ec2024-02-23T15:23:22ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-02-0112234710.3390/jmse12020347A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed PerformanceXuerao Wang0Yuncheng Ouyang1Xiao Wang2Qingling Wang3School of Artificial Intelligence, The Engineering Research Center of Autonomous Unmanned System Technology, Anhui University, Hefei 230601, ChinaSchool of Artificial Intelligence, The Engineering Research Center of Autonomous Unmanned System Technology, Anhui University, Hefei 230601, ChinaSchool of Automation, Southeast University, Nanjing 210096, ChinaSchool of Automation, Southeast University, Nanjing 210096, ChinaIn this paper, a finite-time, active fault-tolerant control (AFTC) scheme is proposed for a class of autonomous surface vehicles (ASVs) with component faults. The designed AFTC framework is based on an integrated design of fault detection (FD), fault estimation (FE), and controller reconfiguration. First, a nominal controller based on the Barrier Lyapunov function is presented, which guarantees that the tracking error converges to the predefined performance constraints within a settling time. Then, a performance-based monitoring function with low complexity is designed to supervise the tracking behaviors and detect the fault. Different from existing results where the fault is bounded by a known scalar, the FE in this study is implemented by a finite-time estimator without requiring any <i>prioir</i> information of fault. Furthermore, under the proposed finite-time AFTC scheme, both the transient and steady-state performance of the ASV can be guaranteed regardless of the occurrence of faults. Finally, a simulation example on CyberShip II is given to confirm the effectiveness of the proposed AFTC method.https://www.mdpi.com/2077-1312/12/2/347fault-tolerant controlguaranteed performancemodel uncertaintiesautonomous surface vehicleactive fault-tolerant control |
| spellingShingle | Xuerao Wang Yuncheng Ouyang Xiao Wang Qingling Wang A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance Journal of Marine Science and Engineering fault-tolerant control guaranteed performance model uncertainties autonomous surface vehicle active fault-tolerant control |
| title | A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance |
| title_full | A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance |
| title_fullStr | A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance |
| title_full_unstemmed | A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance |
| title_short | A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance |
| title_sort | novel finite time active fault tolerant control framework for autonomous surface vehicle with guaranteed performance |
| topic | fault-tolerant control guaranteed performance model uncertainties autonomous surface vehicle active fault-tolerant control |
| url | https://www.mdpi.com/2077-1312/12/2/347 |
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